within Dev.Test.Bodies.Contact;

model BodyDynamicsStub
	extends BaseBodyDynamicsStub;

      parameter SI.Angle phi_start[3] = zeros(3);
      SI.Angle phi[3](start = phi_start);
      SI.AngularVelocity phi_d[3];
      SI.AngularAcceleration phi_dd[3];

equation

      phi_d = der(phi);
      phi_dd = der(phi_d);
      frame_a.R = Frames.axesRotations({1,2,3}, phi, phi_d);

end BodyDynamicsStub;